python train.py --task=OneFrankaCabinetPCPartialCPMap --task_config=cfg/test_cfg/franka_cabinet_PC_partial_cp_map_open_test.yaml --algo=ppo_pc_pure --algo_config=cfg/ppo_pc_pure/config.yaml --rl_device=cuda:1 --sim_device=cuda:1 --seed=1001 --model_dir='/mnt/MARL-CP_gyr/logs/franka_cabinet_PC_partial_cp_map/ppo_pc_pure/ppo_pc_pure_seed1001/model_7000.pt' --test
# /mnt/MARL-CP_gyr/logs/franka_cabinet_PC_partial_cp_map/ppo_pc_pure/ppo_pc_pure_seed1001/CP_7000.pt